Previous work calculated swarm scalability as
\(S(\mathcal {N})=P(\mathcal {N})/\mathcal {N}\)  (i.e., per-robot
efficiency) [1]}. While this measure provides insight into
scalability, it is not predictive (e.g. given \(P(\mathcal {N})\) , we
cannot plausibly estimate \(P({2}\mathcal {N})\)  without
retroactively charting \(S(\mathcal {N})\)  across a range of values for
\(\mathcal {N}\) ).
